version: 66.12
glider: 196
mission: 7
dive: 285
start: 9 5 114 7 19 18
data:
$ID,196
$MISSION,7
$DIVE,285
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5906.5635
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,050914,070812,7413.364,-14324.530,36,0.7,56,23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.2
$GPS2,050914,071858,7413.344,-14324.560,5,0.8,26,23.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.2,48272,-22.3,-11.628,-24.76,1933
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-145.9,206,2770,437,547,0.0,0.0,0,90,0.00,0.00,-71.78,0.000,16386,0.000,0.000,204,2769,2215,2226,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,205,2770,2227,2207,3.0,-2.7,7,142,12.25,2.50,-31.70,0.000,18948,0.401,0.091,2665,1361,3853,3919,3788,0,0,0,0,0,0,13.94,14.22,14.45
$GC,366,-0.69,-145.9,2665,1360,3920,3797,80.3,-21.8,62,373,0.00,2.55,0.00,0.000,1030,0.000,0.098,2656,2754,3857,3919,3796,0,0,0,0,0,0,28.83,14.23,28.83
$GC,671,-0.69,-145.9,2658,2753,3919,3796,145.4,-20.4,93,676,0.00,2.35,0.00,0.000,516,0.000,0.063,2656,1365,3858,3920,3796,0,0,0,0,0,0,28.83,14.37,28.83
$GC,701,-0.69,-145.9,2657,1365,3921,3796,151.1,-19.7,99,707,0.12,2.50,0.00,0.000,3078,0.281,0.095,2669,2766,3858,3920,3796,0,0,0,0,0,0,14.18,14.35,28.83
$GC,1011,-0.69,-145.9,2670,2767,3920,3797,205.0,-17.0,131,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2766,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.69,-145.9,2670,2767,3920,3797,251.1,-14.3,161,1316,0.00,1.83,0.00,0.000,260,0.000,0.101,2663,3780,3858,3920,3796,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1346,-0.69,-145.9,2664,3780,3921,3796,256.4,-15.7,168,1351,0.00,1.70,0.00,0.000,1030,0.000,0.054,2663,2756,3857,3919,3796,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1673,-0.69,-145.9,2664,2756,3921,3796,302.5,-13.7,183,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1971,-0.69,-145.9,2664,2756,3921,3796,341.9,-12.9,193,1976,0.00,2.33,0.00,0.000,516,0.000,0.066,2663,1369,3857,3919,3796,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1991,-0.69,-145.9,2664,1369,3921,3796,344.6,-13.3,197,1997,0.00,2.50,0.00,0.000,1030,0.000,0.097,2652,2758,3857,3919,3796,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2301,-0.69,-145.9,2652,2758,3926,3796,385.1,-13.1,209,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,-0.69,-145.9,2653,2759,3920,3797,423.7,-12.8,219,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.69,-145.9,2653,2759,3920,3797,462.3,-12.9,229,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3201,-0.69,-145.9,2653,2759,3920,3797,500.5,-12.8,239,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2758,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3501,-0.69,-145.9,2653,2759,3920,3797,538.3,-12.5,249,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3801,-0.69,-145.9,2652,2758,3921,3796,575.8,-12.5,259,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.69,-145.9,2653,2759,3920,3797,612.9,-12.4,269,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4401,-0.69,-145.9,2652,2759,3920,3797,649.3,-12.1,279,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,-0.69,-145.9,2653,2758,3921,3796,685.9,-12.2,289,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5001,-0.69,-145.9,2653,2758,3921,3796,722.3,-12.1,299,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5244,-0.13,0.0,2653,2758,3921,3797,751.2,-11.9,307,5374,0.73,0.00,127.10,2.012,10244,0.223,0.000,2845,2758,3257,3278,3237,0,0,0,0,0,0,14.32,28.83,13.07
$STATE,5375,end apogee,CONTROL_FINISHED_OK
$STATE,5375,begin climb
$GC,5377,0.69,145.9,2846,2758,3274,3234,754.9,0.0,311,5508,0.88,0.00,125.95,1.857,11270,0.121,0.000,3112,2758,2663,2669,2657,0,0,0,0,0,0,13.76,28.83,12.62
$GC,5813,0.69,145.9,3113,2758,2664,2642,710.4,13.1,351,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6113,0.69,145.9,3113,2758,2664,2642,671.4,13.1,361,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6413,0.69,145.9,3113,2758,2664,2641,632.7,12.9,371,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2758,2651,2662,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6713,0.69,145.9,3113,2759,2663,2641,594.1,12.9,381,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2651,2662,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7013,0.69,145.9,3113,2759,2663,2641,556.0,12.7,391,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2651,2662,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,0.69,145.9,3113,2758,2664,2641,518.5,12.5,401,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7613,0.69,145.9,3113,2758,2663,2641,481.6,12.2,411,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7913,0.69,145.9,3113,2759,2664,2641,444.9,12.0,421,7918,0.00,1.80,0.00,0.000,260,0.000,0.098,3112,3793,2652,2663,2641,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7943,0.69,145.9,3113,3793,2664,2641,440.7,14.2,427,7948,0.00,1.73,0.00,0.000,1030,0.000,0.050,3120,2735,2652,2663,2641,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8274,0.69,145.9,3121,2735,2664,2642,399.7,12.3,443,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2735,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8573,0.69,145.9,3121,2735,2664,2641,362.6,12.4,453,8578,0.00,1.88,0.00,0.000,260,0.000,0.097,3120,3812,2651,2662,2641,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8593,0.69,145.9,3121,3813,2664,2641,359.9,13.4,457,8598,0.00,1.75,0.00,0.000,1030,0.000,0.050,3127,2743,2652,2663,2641,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8903,0.69,145.9,3130,2743,2661,2641,321.9,12.2,469,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9203,0.69,151.4,3127,2744,2664,2645,286.7,11.3,479,9209,0.00,1.83,1.35,0.275,8452,0.000,0.094,3127,3796,2640,2654,2627,0,0,0,0,0,0,28.83,14.52,14.21
$GC,9243,0.69,151.4,3128,3797,2665,2635,281.6,13.1,487,9249,0.00,1.73,0.85,0.269,9222,0.000,0.050,3134,2737,2640,2655,2626,0,0,0,0,0,0,28.83,14.59,14.29
$GC,9565,0.72,188.1,3136,2737,2673,2631,248.2,9.7,501,9605,0.00,2.35,34.30,1.312,8708,0.000,0.062,3146,1348,2482,2491,2474,0,0,0,0,0,0,28.83,14.38,13.79
$GC,9650,0.74,215.1,3147,1349,2490,2479,239.4,10.2,518,9677,0.00,2.47,23.08,1.367,9222,0.000,0.091,3146,2751,2380,2382,2378,0,0,0,0,0,0,28.83,14.31,13.66
$GC,9976,0.75,226.9,3146,2751,2378,2367,202.5,11.0,553,9988,0.00,0.00,10.12,1.330,8198,0.000,0.000,3146,2751,2334,2337,2332,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10285,0.77,266.8,3146,2751,2334,2324,171.2,9.5,584,10326,0.00,0.00,34.95,1.287,8198,0.000,0.000,3145,2751,2164,2166,2162,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10626,0.80,297.8,3147,2752,2167,2155,135.7,10.0,618,10656,0.00,0.00,26.75,1.267,8198,0.000,0.000,3146,2751,2038,2042,2035,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10957,0.81,323.4,3146,2751,2042,2025,101.8,10.3,651,10977,0.00,0.00,19.15,1.208,8198,0.000,0.000,3145,2750,1938,1939,1937,0,0,0,0,0,0,28.83,28.83,13.69
$GC,11276,0.86,387.0,3146,2751,1934,1925,72.1,8.2,683,11311,0.00,2.45,27.80,0.403,8708,0.000,0.069,3151,1363,1679,1684,1675,0,0,0,0,0,0,28.83,14.21,13.97
$GC,11336,0.90,452.2,3151,1362,1686,1675,67.0,8.2,692,11372,0.12,2.45,29.60,0.387,11270,0.125,0.091,3204,2740,1414,1428,1401,0,0,0,0,0,0,14.26,14.21,13.94
$GC,11677,0.96,534.7,3204,2740,1431,1385,35.6,7.2,730,11719,0.00,1.92,36.90,0.293,8452,0.000,0.098,3204,3781,1076,1088,1065,0,0,0,0,0,0,28.83,14.18,14.02
$GC,11739,1.01,603.0,3206,3784,1088,1066,30.9,8.0,742,11775,0.00,1.75,31.38,0.296,9222,0.000,0.050,3210,2741,797,790,805,0,0,0,0,0,0,28.83,14.25,13.96
$FREEZE,8.65,-1.391,-1.444,2,1,0
$FREEZE,8.15,-1.392,-1.444,2,1,0
$FREEZE,7.80,-1.392,-1.443,2,1,0
$FREEZE,7.72,-1.392,-1.443,2,1,0
$FREEZE,7.52,-1.391,-1.443,2,1,0
$FREEZE,7.09,-1.391,-1.443,2,1,0
$FREEZE,6.60,-1.393,-1.443,2,1,0
$GC,12080,1.09,722.4,3211,2741,789,798,7.8,5.3,780,12108,0.12,0.00,25.90,0.220,10754,0.129,0.000,3268,2740,564,529,599,0,0,0,0,0,0,14.29,28.83,28.83
$STATE,12108,end climb,FINISH_DEPTH_REACHED
$STATE,12108,begin subsurface finish
$FINISH1,6.6,1.021211,351
$GC,12113,0.25,351.0,3269,2740,530,600,6.6,5.3,784,12155,1.02,2.38,-34.33,0.000,20996,0.195,0.084,2983,1351,1829,1883,1775,0,0,0,0,0,0,14.11,14.23,14.46
$FINISH2,6.4
$STATE,12155,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12155,begin surface
$RAFOS_CLK,486
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7327.28,-14323.58,050914,001152
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.92
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,8
$SC_FREEKB,3810944
$24V_AH,12.62,87.590
$10V_AH,12.74,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.250,44.725,555.175,0.000,0.000,0.000,0.000,425.150,2.000,0.000,27.310,0.000,9882.566,632.339,2045.145,236.608,0.000,1717.197,0.000,1184.063,1493.000,0.540,0.000
$DEVICE_MAMPS,400.860,100.980,2011.950,0.000,0.000,0.000,0.000,177.480,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12203.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.728,0.000,0.000,0.000
$MEM,199600
$DATA_FILE_SIZE,26774,792
$CAP_FILE_SIZE,132100,0
$CFSIZE,2097872896,2036858880
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12464.38,0x2378b6,7,5
$INTR,1,5241.60,0x2378b6,2,5
$INTR,2,12110.27,0x2378b6,5,5
$SOUNDSPEED,1448.5
$GPS,050914,071858,7413.344,-14324.560,5,0.8,26,23.6